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Change hal sim to use spinlocks (#1291)

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This makes callback registration completely thread safe.

This patch also uses templates and macros to dramatically reduce the amount of
manual boilerplate.
This commit is contained in:
Peter Johnson
2018-09-03 16:08:07 -07:00
committed by GitHub
parent 67b1c85315
commit c0ff6198b3
65 changed files with 1305 additions and 7639 deletions
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59
hal/src/main/native/sim/mockdata/PDPDataInternal.h
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@@ -7,58 +7,29 @@
#pragma once
#include <atomic>
#include <memory>
#include <wpi/mutex.h>
#include "../PortsInternal.h"
#include "mockdata/NotifyListenerVector.h"
#include "mockdata/PDPData.h"
#include "mockdata/SimDataValue.h"
namespace hal {
class PDPData {
HAL_SIMDATAVALUE_DEFINE_NAME(Initialized)
HAL_SIMDATAVALUE_DEFINE_NAME(Temperature)
HAL_SIMDATAVALUE_DEFINE_NAME(Voltage)
HAL_SIMDATAVALUE_DEFINE_NAME(Current)
static LLVM_ATTRIBUTE_ALWAYS_INLINE constexpr double GetCurrentDefault() {
return 0.0;
}
public:
int32_t RegisterInitializedCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelInitializedCallback(int32_t uid);
void InvokeInitializedCallback(HAL_Value value);
HAL_Bool GetInitialized();
void SetInitialized(HAL_Bool initialized);
int32_t RegisterTemperatureCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelTemperatureCallback(int32_t uid);
void InvokeTemperatureCallback(HAL_Value value);
double GetTemperature();
void SetTemperature(double temperature);
int32_t RegisterVoltageCallback(HAL_NotifyCallback callback, void* param,
HAL_Bool initialNotify);
void CancelVoltageCallback(int32_t uid);
void InvokeVoltageCallback(HAL_Value value);
double GetVoltage();
void SetVoltage(double voltage);
int32_t RegisterCurrentCallback(int32_t channel, HAL_NotifyCallback callback,
void* param, HAL_Bool initialNotify);
void CancelCurrentCallback(int32_t channel, int32_t uid);
void InvokeCurrentCallback(int32_t channel, HAL_Value value);
double GetCurrent(int32_t channel);
void SetCurrent(int32_t channel, double current);
SimDataValue<HAL_Bool, MakeBoolean, GetInitializedName> initialized{false};
SimDataValue<double, MakeDouble, GetTemperatureName> temperature{0.0};
SimDataValue<double, MakeDouble, GetVoltageName> voltage{12.0};
SimDataValue<double, MakeDouble, GetCurrentName, GetCurrentDefault>
current[kNumPDPChannels];
virtual void ResetData();
private:
wpi::mutex m_registerMutex;
std::atomic<HAL_Bool> m_initialized{false};
std::shared_ptr<NotifyListenerVector> m_initializedCallbacks = nullptr;
std::atomic<double> m_temperature{0.0};
std::shared_ptr<NotifyListenerVector> m_temperatureCallbacks = nullptr;
std::atomic<double> m_voltage{12.0};
std::shared_ptr<NotifyListenerVector> m_voltageCallbacks = nullptr;
std::atomic<double> m_current[kNumPDPChannels];
std::shared_ptr<NotifyListenerVector> m_currentCallbacks[kNumPDPChannels];
};
extern PDPData* SimPDPData;
} // namespace hal